2011 : Swinging up and tracking controller design for a pendulum-cart system using hybrid fuzzy control

Prof.Dr.Ir. Achmad Jazidie M.Eng
Prof.Dr.Ir. Mohammad Nuh DEA
Dr. Trihastuti Agustinah S.T., M.T.


This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and the tracking control of a pendulum-cart system. First, a fuzzy swing-up controller is developed to swing the pendulum up from its pendant position to upright position using a simple control strategy. Next, a fuzzy tracking controller is designed based on a synthesis of the tracking control theory of linear multivariable control and the Takagi–Sugeno fuzzy model. The stabilizing compensator based on observer is chosen because the states of the system are not all directly measurable. The concept of parallel distributed compensation is employed to design fuzzy tracking controller from the T–S fuzzy model. Numerical simulation and real-time experiment are provided to demonstrate the effectiveness of the proposed method.